Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/SpawnModel.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_SpawnModel_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SpawnModel_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class SpawnModelRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _model_name_type;
garyservin 0:9e9b7db60fd5 18 _model_name_type model_name;
garyservin 0:9e9b7db60fd5 19 typedef const char* _model_xml_type;
garyservin 0:9e9b7db60fd5 20 _model_xml_type model_xml;
garyservin 0:9e9b7db60fd5 21 typedef const char* _robot_namespace_type;
garyservin 0:9e9b7db60fd5 22 _robot_namespace_type robot_namespace;
garyservin 0:9e9b7db60fd5 23 typedef geometry_msgs::Pose _initial_pose_type;
garyservin 0:9e9b7db60fd5 24 _initial_pose_type initial_pose;
garyservin 0:9e9b7db60fd5 25 typedef const char* _reference_frame_type;
garyservin 0:9e9b7db60fd5 26 _reference_frame_type reference_frame;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 SpawnModelRequest():
garyservin 0:9e9b7db60fd5 29 model_name(""),
garyservin 0:9e9b7db60fd5 30 model_xml(""),
garyservin 0:9e9b7db60fd5 31 robot_namespace(""),
garyservin 0:9e9b7db60fd5 32 initial_pose(),
garyservin 0:9e9b7db60fd5 33 reference_frame("")
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 }
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 int offset = 0;
garyservin 0:9e9b7db60fd5 40 uint32_t length_model_name = strlen(this->model_name);
garyservin 0:9e9b7db60fd5 41 varToArr(outbuffer + offset, length_model_name);
garyservin 0:9e9b7db60fd5 42 offset += 4;
garyservin 0:9e9b7db60fd5 43 memcpy(outbuffer + offset, this->model_name, length_model_name);
garyservin 0:9e9b7db60fd5 44 offset += length_model_name;
garyservin 0:9e9b7db60fd5 45 uint32_t length_model_xml = strlen(this->model_xml);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_model_xml);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->model_xml, length_model_xml);
garyservin 0:9e9b7db60fd5 49 offset += length_model_xml;
garyservin 0:9e9b7db60fd5 50 uint32_t length_robot_namespace = strlen(this->robot_namespace);
garyservin 0:9e9b7db60fd5 51 varToArr(outbuffer + offset, length_robot_namespace);
garyservin 0:9e9b7db60fd5 52 offset += 4;
garyservin 0:9e9b7db60fd5 53 memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
garyservin 0:9e9b7db60fd5 54 offset += length_robot_namespace;
garyservin 0:9e9b7db60fd5 55 offset += this->initial_pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 56 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:9e9b7db60fd5 57 varToArr(outbuffer + offset, length_reference_frame);
garyservin 0:9e9b7db60fd5 58 offset += 4;
garyservin 0:9e9b7db60fd5 59 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:9e9b7db60fd5 60 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 61 return offset;
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63
garyservin 0:9e9b7db60fd5 64 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 65 {
garyservin 0:9e9b7db60fd5 66 int offset = 0;
garyservin 0:9e9b7db60fd5 67 uint32_t length_model_name;
garyservin 0:9e9b7db60fd5 68 arrToVar(length_model_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 69 offset += 4;
garyservin 0:9e9b7db60fd5 70 for(unsigned int k= offset; k< offset+length_model_name; ++k){
garyservin 0:9e9b7db60fd5 71 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 inbuffer[offset+length_model_name-1]=0;
garyservin 0:9e9b7db60fd5 74 this->model_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 75 offset += length_model_name;
garyservin 0:9e9b7db60fd5 76 uint32_t length_model_xml;
garyservin 0:9e9b7db60fd5 77 arrToVar(length_model_xml, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 78 offset += 4;
garyservin 0:9e9b7db60fd5 79 for(unsigned int k= offset; k< offset+length_model_xml; ++k){
garyservin 0:9e9b7db60fd5 80 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 81 }
garyservin 0:9e9b7db60fd5 82 inbuffer[offset+length_model_xml-1]=0;
garyservin 0:9e9b7db60fd5 83 this->model_xml = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 84 offset += length_model_xml;
garyservin 0:9e9b7db60fd5 85 uint32_t length_robot_namespace;
garyservin 0:9e9b7db60fd5 86 arrToVar(length_robot_namespace, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 87 offset += 4;
garyservin 0:9e9b7db60fd5 88 for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
garyservin 0:9e9b7db60fd5 89 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 90 }
garyservin 0:9e9b7db60fd5 91 inbuffer[offset+length_robot_namespace-1]=0;
garyservin 0:9e9b7db60fd5 92 this->robot_namespace = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 93 offset += length_robot_namespace;
garyservin 0:9e9b7db60fd5 94 offset += this->initial_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 95 uint32_t length_reference_frame;
garyservin 0:9e9b7db60fd5 96 arrToVar(length_reference_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 97 offset += 4;
garyservin 0:9e9b7db60fd5 98 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:9e9b7db60fd5 99 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:9e9b7db60fd5 102 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 103 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 104 return offset;
garyservin 0:9e9b7db60fd5 105 }
garyservin 0:9e9b7db60fd5 106
garyservin 0:9e9b7db60fd5 107 const char * getType(){ return SPAWNMODEL; };
garyservin 0:9e9b7db60fd5 108 const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
garyservin 0:9e9b7db60fd5 109
garyservin 0:9e9b7db60fd5 110 };
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 class SpawnModelResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 113 {
garyservin 0:9e9b7db60fd5 114 public:
garyservin 0:9e9b7db60fd5 115 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 116 _success_type success;
garyservin 0:9e9b7db60fd5 117 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 118 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 SpawnModelResponse():
garyservin 0:9e9b7db60fd5 121 success(0),
garyservin 0:9e9b7db60fd5 122 status_message("")
garyservin 0:9e9b7db60fd5 123 {
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 127 {
garyservin 0:9e9b7db60fd5 128 int offset = 0;
garyservin 0:9e9b7db60fd5 129 union {
garyservin 0:9e9b7db60fd5 130 bool real;
garyservin 0:9e9b7db60fd5 131 uint8_t base;
garyservin 0:9e9b7db60fd5 132 } u_success;
garyservin 0:9e9b7db60fd5 133 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 134 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 135 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 136 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 137 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 138 offset += 4;
garyservin 0:9e9b7db60fd5 139 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 140 offset += length_status_message;
garyservin 0:9e9b7db60fd5 141 return offset;
garyservin 0:9e9b7db60fd5 142 }
garyservin 0:9e9b7db60fd5 143
garyservin 0:9e9b7db60fd5 144 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 145 {
garyservin 0:9e9b7db60fd5 146 int offset = 0;
garyservin 0:9e9b7db60fd5 147 union {
garyservin 0:9e9b7db60fd5 148 bool real;
garyservin 0:9e9b7db60fd5 149 uint8_t base;
garyservin 0:9e9b7db60fd5 150 } u_success;
garyservin 0:9e9b7db60fd5 151 u_success.base = 0;
garyservin 0:9e9b7db60fd5 152 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 153 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 154 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 155 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 156 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 157 offset += 4;
garyservin 0:9e9b7db60fd5 158 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 159 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 160 }
garyservin 0:9e9b7db60fd5 161 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 162 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 163 offset += length_status_message;
garyservin 0:9e9b7db60fd5 164 return offset;
garyservin 0:9e9b7db60fd5 165 }
garyservin 0:9e9b7db60fd5 166
garyservin 0:9e9b7db60fd5 167 const char * getType(){ return SPAWNMODEL; };
garyservin 0:9e9b7db60fd5 168 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 169
garyservin 0:9e9b7db60fd5 170 };
garyservin 0:9e9b7db60fd5 171
garyservin 0:9e9b7db60fd5 172 class SpawnModel {
garyservin 0:9e9b7db60fd5 173 public:
garyservin 0:9e9b7db60fd5 174 typedef SpawnModelRequest Request;
garyservin 0:9e9b7db60fd5 175 typedef SpawnModelResponse Response;
garyservin 0:9e9b7db60fd5 176 };
garyservin 0:9e9b7db60fd5 177
garyservin 0:9e9b7db60fd5 178 }
garyservin 0:9e9b7db60fd5 179 #endif